OMPL reports solved paths that are incorrect

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JBaxter
Posts: 1
Joined: 20 Sep 2018, 19:33

OMPL reports solved paths that are incorrect

Post by JBaxter »

Hello!

I am trying to use V-REP's OMPL to motion plan for a robot. I am finding that simOMPL.solve() returns true despite the "solution" returned by simOMPL.getPath() not reaching the goal state. I don't know what is going wrong, as far as I can tell everything I am doing is correct.

I have an example scene file here:
https://drive.google.com/file/d/1nr9Q3_ ... sp=sharing

I am using OSX and the EDU version of V-REP 3.5.0 rev 4.

Thank you very much for your time!

nex
Posts: 29
Joined: 07 Nov 2016, 15:48

Re: OMPL reports solved paths that are incorrect

Post by nex »

The solution returned by OMPL may be an approximate solution (which is supposed to be still better than nothing).
https://ompl.kavrakilab.org/classompl_1_1base_1_1ProblemDefinition.html wrote:
bool hasSolution() const
Returns true if a solution path has been found (could be approximate)

bool hasExactSolution() const
Returns true if an exact solution path has been found. Specifically returns hasSolution && !hasApproximateSolution()

bool hasApproximateSolution() const
Return true if the top found solution is approximate (does not actually reach the desired goal, but hopefully is closer to it)

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